Any details or pics on your install?I can confirm that you can connect a 3rd Gen. RAV4 camera to a 3rd Gen. Rav4 Nav.
Using a mating connector for the camera, terminal pins, and a length of cable, I was able to create two wire harnesses. The beauty is that the harnesses are at the endpoints for the Nav and Camera. Other than that, I used much of the Rav's native wiring and connectors meant for relaying the camera's electrical signals -- sooooo clean; no, superfluous, extra, cable that runs the entire length of the car's perimeter. And, yes, I am totally bragging.
Thank you, OP, for letting me know that the NAV unit could connect to the camera, and which pins on the unit were what. That was the catalyst for making this all possible.
Forgive the sloppiness of this post. I _just_ finished the project, and elated that everything works.